WO2013064209A2 - Procédé, unité de calcul, et dispositif de surveillance d'une chaîne cinématique - Google Patents

Procédé, unité de calcul, et dispositif de surveillance d'une chaîne cinématique Download PDF

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Publication number
WO2013064209A2
WO2013064209A2 PCT/EP2012/004293 EP2012004293W WO2013064209A2 WO 2013064209 A2 WO2013064209 A2 WO 2013064209A2 EP 2012004293 W EP2012004293 W EP 2012004293W WO 2013064209 A2 WO2013064209 A2 WO 2013064209A2
Authority
WO
WIPO (PCT)
Prior art keywords
drive train
damage
frequency
acceleration sensor
monitoring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2012/004293
Other languages
German (de)
English (en)
Other versions
WO2013064209A3 (fr
Inventor
Daniel Brenner
Dirk SCHOLLBACH
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to CN201280065395.2A priority Critical patent/CN104011515B/zh
Priority to US14/355,416 priority patent/US9459179B2/en
Publication of WO2013064209A2 publication Critical patent/WO2013064209A2/fr
Publication of WO2013064209A3 publication Critical patent/WO2013064209A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M15/00—Testing of engines
    • G01M15/14—Testing gas-turbine engines or jet-propulsion engines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D15/00—Transmission of mechanical power
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
    • G01H1/003—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
    • G01H1/003—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines
    • G01H1/006—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines of the rotor of turbo machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00—Vibration-testing of structures; Shock-testing of structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/80—Diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/807—Accelerometers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present invention relates to a method for monitoring a state of a drive train, in particular a wind turbine, a computing unit for its implementation and a correspondingly configured monitoring device.
  • WTG wind turbines
  • condition-based maintenance is often provided in wind turbines, which takes place, for example, on the basis of vibration-based state monitoring (condition monitoring, CM) of rotor blades in corresponding condition monitoring systems or systems (Condition Monitoring Systems, CMS).
  • condition monitoring condition monitoring
  • CMS Condition Monitoring Systems
  • Condition messages are evaluated in certified diagnostic centers, often by specially trained personnel.
  • CMS By using CMS, errors can be detected at an early stage, avoid unplanned shutdowns and reduce costs for spare parts storage, repair and production losses. Overall, CMS increases availability and production stability. For monitoring the drive train of wind turbines whose components are often associated with individual sensors, such as structure-borne sound sensors or vibration sensors, which are evaluated for condition monitoring of the components accordingly.
  • the invention proposes a method for monitoring a state of a drive train of a wind turbine, which has at least one arranged on at least one rotating component of the wind turbine acceleration sensor, a corresponding monitoring device and a corresponding computing unit with the features of the independent claims.
  • Preferred embodiments are subject of the dependent claims and the following description.
  • acceleration sensor is also understood to mean the structure-borne noise and vibration sensors mentioned.
  • the present invention is based on the surprising finding that damage to a rotating drive train, in particular a wind turbine, can be detected very well using an acceleration sensor which is arranged at a greater distance from a rotational axis of the drive train on a component co-rotating with an element of the drive train ,
  • the rotating element provides e.g. the main shaft of the drive train
  • the mechanically connected component is e.g. around a rotor blade.
  • the distance can be z. B. at least 1, 2, 4, 6, 8 or 10 meters and / or at most 10, 20, 30, 40, 50 or 100 meters.
  • a monitoring can be carried out in particular at least one rotational speed of a rotor of the wind turbine by a temporal detection of the corresponding sensor signal and an examination of the signal for interference frequencies out.
  • the detected interference frequencies can be assigned to specific damage in the drive train of the wind turbine.
  • a "drive train” is understood to mean, in particular, a rotor shaft with a bearing associated therewith, an optionally associated gear and a corresponding generator.
  • the sensors which are usually used to detect vibrations of a rotor blade to derive from the vibrations load conditions and possibly damage, also to analyze vibrations and shocks from the drive train.
  • defects, bearing damage and / or increased wear can be detected
  • the spectra usually determined in rotor blade monitoring also contain excitations and thus corresponding frequencies originating from the drive train of the system. It was found that the powertrain frequencies detected in the rotor blade are significantly better resolved than those measured directly with corresponding sensors on the drive train.
  • the corresponding sensors do not necessarily have to be arranged exclusively on or in the rotor blades of a corresponding wind turbine. In certain applications, it may also prove advantageous to use other sensors or sensor arrangements, generally those which are provided on at least one rotating component of the wind turbine.
  • the acceleration sensors to be used may comprise horizontal, tangential and / or radial acceleration sensors, in particular those sensors which are arranged at a radial distance, for example of ten meters or more, on a rotating shaft. Due to the principle, monitoring in the measuring direction is best suited tangentially to the rotor. However, all movements can be detected which have at least one tangential component
  • the measures according to the invention are therefore particularly suitable for monitoring conventional drive train monitoring by means of sensors on or on components of the drive train, e.g. saving a generator gearbox, thereby enabling simpler, cheaper and more reliable monitoring of a powertrain that manages with significantly fewer sensors. Accordingly, a WEA becomes cheaper to maintain and enables easier and more reliable operation. Sensors spaced apart from an axis allow a much better spectral resolution.
  • a major disadvantage that occurs in conventional methods for powertrain monitoring, is that in particular planetary and planetary bearing damage can be detected with conventional systems only with severe damage. In contrast, the present invention also allows a simple, timely and reliable determination of such damage.
  • the present invention thus allows a more early damage detection and requires only a measuring system.
  • damage detection at planetary gear stages of a corresponding wind turbine is possible.
  • the present invention makes use of the fact that damage to machine elements, which induce a torsional vibration, by or on a corresponding shaft or arranged acceleration sensors can be detected very early and already at a low level of damage.
  • the present invention makes it possible, by means of the transmission kinematics and at a known speed, to extract from the rotor blade vibration data inter alia tooth engagement frequencies and rotational frequencies of the transmission.
  • the timewise trend of the respective amplitudes can provide information about the state of the respective transmission.
  • capacitive acceleration sensors it is particularly advantageous to use capacitive acceleration sensors in the context of the present invention.
  • capacitive sensors With such capacitive sensors, a determination of a lower limit frequency of 0 Hz is possible, which can also monitor slowly rotating components safely and reliably. In the case of such sensors, it makes sense to extend the frequency range upwards in the sense of improved monitoring of rapidly rotating components.
  • Corresponding sensors therefore allow for improved monitoring compared to commonly used piezo acceleration sensors in which only one frequency range, e.g. between about 0.1 Hz and 500 Hz can be evaluated.
  • a significant advantage of the present invention resides in the fact that the acceleration sensors are arranged in rotor blades generally over ten meters from the axis of rotation.
  • the lever arm provided in this way allows even slight torsional vibrations to be detected. Accordingly, rotational irregularities, which are caused by gear damage and / or bearing damage, can be measured and recognized at an early stage.
  • commercially available blade monitoring devices can be used for rotor blade monitoring and thus also for powertrain monitoring according to the invention, which have, for example, two-axis acceleration sensors in each rotor blade, which are positioned at a distance of about one third of the blade length to the blade root.
  • a corresponding sensor measures the acceleration tangential to the rotor rotation and the acceleration in the direction parallel to the rotor axis (tangential and axial acceleration). Due to the great distance of the acceleration sensors from the axis of rotation, the vibration is amplified on the drive shaft by a lever effect, so that, as already mentioned, very small torsional vibrations of the main shaft of the drive train can be detected.
  • the method proposed according to the invention thus has a much greater detection quality than conventional monitoring methods.
  • Gear stages generate a torsional vibration which is superimposed on the shaft rotation by changing the number of teeth in meshing engagement and the associated change in rigidity.
  • This torsional vibration corresponds to a tangential acceleration.
  • the tangential acceleration is superimposed with an axial acceleration. Due to the positive connection of the elements in gear drives the torsional vibration is transmitted to all waves with the appropriate translation.
  • the evaluation of corresponding frequencies in the context of the present invention takes place in the form of frequency spectra which are generated, for example, from acceleration data of corresponding sensors by means of Fourier transformation.
  • the frequency spectrums can also be generated differently, e.g. using cosine transform, wavelet transform, or ARR (AutoRegressive-Moving Average) spectral estimator.
  • An arithmetic unit according to the invention e.g. A corresponding monitoring device is, in particular in terms of programming, configured to carry out a method according to the invention.
  • Suitable data carriers for providing the computer program are, in particular, floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and the like. It is also possible to download a program via computer networks (Internet, intranet, etc.). Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.
  • FIG. 1 shows a wind energy plant which can be monitored by means of a method according to an embodiment of the invention.
  • FIG. 2 shows a frequency spectrum of an acceleration sensor according to a particularly preferred embodiment of the invention at a first rotational speed. shows a frequency spectrum of an acceleration sensor according to a particularly preferred embodiment of the invention at a second speed.
  • FIG. 4 shows a signal of a hub sensor in the form of a frequency spectrum according to the prior art.
  • FIG. 1 shows a longitudinal sectional view of a part of a wind energy plant which can be monitored by means of a method according to a particularly preferred embodiment of the invention.
  • the wind turbine is designated at 100, her drive train with 10.
  • the drive train 10 shown is composed essentially of a main shaft 1, on which a rotor 20 is mounted, a gearbox 2 and a generator shaft 3 together.
  • the transmission 2 may be, for example, a three-stage transmission commonly used in wind turbines.
  • the invention can also be used in gearless wind turbines.
  • the main shaft 1 is non-positively connected to the rotor 20, for example a rotary vane rotor.
  • the generator shaft 3 may be connected via a coupling 30 to a generator 40.
  • the main shaft 1, the transmission 2, the generator shaft 3 and the generator 40 are supported by appropriate means, enclosed in a housing 50 ("nacelle") and mounted on a tower 60.
  • nacelle housing 50
  • two partially illustrated rotor blades 21 are mounted on the rotor 20.
  • rotors 20 commonly used in wind turbines have three rotor blades 21.
  • the rotor blades 21 of the rotor 20 have acceleration sensors 71, which are arranged, for example, at a distance of one third of their length to a rotor hub or axis 25.
  • the acceleration sensors 71 are connected as part of an evaluation system 70 with lines 72 (also eg radio links) to an evaluation device 73, which evaluates signals of the acceleration sensors 71 and for this purpose can have a computing unit, not shown.
  • the evaluation system 70 is typically disposed in the housing 50.
  • FIG. 2 shows spectra which can be obtained by an evaluation of acceleration sensor signals from acceleration sensors, for example the acceleration sensors 71 of FIG.
  • the corresponding acceleration signals were recorded in time and converted into a frequency spectrum, for example by Fourier transformation.
  • the frequency spectra are given in a frequency in Hz on the x-axis and an amplitude on the left (A) and the right (B) y-axes.
  • the frequency spectra of Figure 2 were taken at a rotor speed of a wind turbine of 0.18 Hz.
  • A amplitude plotted on the left y-axis
  • Spectrum B amplitude plotted on the right y-axis
  • the main gearbox proved to be partially defective in this case.
  • spectrum A in contrast to spectrum B, which corresponds to the repaired state, clearly a fundamental frequency at 31, 3 Hz and a second harmonic at 94 Hz and, less pronounced, a first, third and fourth harmonic frequency can be seen.
  • spectrum B which corresponds to the repaired state
  • FIG. 2 analogously to FIG. 1, a corresponding frequency spectra are shown before and after a repair and are likewise denoted by 20. Again, the spectrum before repair with A and B after the repair is designated. The spectra were recorded at a rotor speed of 0.238 Hz. Before the repair, the fundamental frequency is 42.1 Hz and the second upper frequency is 126.3 Hz. These frequencies are strongly excited. The first and third harmonic frequencies of an outer ring rollover frequency are also visible, but less strongly excited.
  • a corresponding used generator-side bearing of the slowly rotating gear shaft has in the corresponding wind turbine at a rotor speed of 0.1779 Hz ( Figure 2) a rollover frequency for damage to the outer ring of 31, 4 Hz.
  • the outer ring rollover frequency is 42.1 Hz. This is clearly recognizable on the basis of the illustrated frequency evaluation. Intact rolling bearings generate no shock pulses during operation and are therefore not visible in the spectrum. The detection of the damage rollover frequencies clearly indicates in the illustrated spectrum damage to the corresponding machine element. These damage frequencies were detected at different rotational speeds - as can be seen from FIGS. 2 and 3 - at different frequency values, thereby precluding superposition with structural frequencies. Structure frequencies, such as natural oscillations of the rotor blades, do not change significantly with speed change.
  • kinematic frequencies can be derived, which are used to mood the type of damage to bearings.
  • the pitch circle diameter, the rolling element diameter, the operating pressure angle, the rotation frequency and the number of rolling elements e.g. the cage rotation frequency with a fixed outer ring, the cage rotation frequency at a fixed inner ring, the rollover frequency of an irregularity on the outer ring, the rollover frequency of an irregularity on the inner ring, the WälzSystemrotationsfrequenz and / or the rollover frequency of rolling element irregularity on both Wälzbahnen calculate.
  • a slippage of the rolling element set which - depending on the design and use of the bearing and load conditions - can assume considerable values, leads to a deviation between the kinematic determinable and the actual measured frequency, which can be compensated by specifying a tolerance limit.
  • FIGS. 2 and 3 show an evaluation based on the frequency.
  • a measurement cycle of e.g. With variable-speed wind turbines a speed variance occurs in 80 seconds, which leads to a broadening of corresponding frequency peaks. Therefore, it is proposed to perform a corresponding analysis based on the order and to divide the measured frequency by the respective present speed. For this purpose, a knowledge of the speed at each time of the measurement is required, including a high-resolution speed measurement can be used. It was found that a measurement with one pulse per revolution on the fast shaft of the generator is sufficient for this purpose.
  • Figure 4 shows a signal of a hub sensor in the axial direction of a shaft according to the prior art. As can be seen, no peak is detected in any of the frequencies excited by the transmission. Thus, neither the meshing frequency nor a harmonic frequency the defective rolling bearing can be detected in the prior art. The invention, however, allows a safe and reliable measurement of such damage.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Wind Motors (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Abstract

L'invention concerne un procédé de surveillance d'un état d'une chaîne cinématique, en particulier d'une éolienne comportant au moins une pièce reliée mécaniquement à un élément rotatif de la chaîne cinématique. Au moins un capteur d'accélération situé sur cette pièce à une certaine distance d'un axe de rotation de la chaîne cinématique, tourne autour dudit axe de rotation à ladite distance. Selon l'invention, un signal du capteur d'accélération de ladite pièce est relevé en fonction du temps pour au moins un régime de l'élément rotatif, et les fréquences parasites qui correspondent à des dommages de la chaîne cinématique sont recherchées.
PCT/EP2012/004293 2011-11-02 2012-10-13 Procédé, unité de calcul, et dispositif de surveillance d'une chaîne cinématique Ceased WO2013064209A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201280065395.2A CN104011515B (zh) 2011-11-02 2012-10-13 用于监控传动系的方法、计算单元和装置
US14/355,416 US9459179B2 (en) 2011-11-02 2012-10-13 Method and device for monitoring a drive train of a wind power plant

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011117468.4 2011-11-02
DE102011117468.4A DE102011117468B4 (de) 2011-11-02 2011-11-02 Verfahren, Recheneinheit und Einrichtung zur Überwachung eines Antriebstrangs

Publications (2)

Publication Number Publication Date
WO2013064209A2 true WO2013064209A2 (fr) 2013-05-10
WO2013064209A3 WO2013064209A3 (fr) 2013-11-07

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Country Link
US (1) US9459179B2 (fr)
CN (1) CN104011515B (fr)
DE (1) DE102011117468B4 (fr)
WO (1) WO2013064209A2 (fr)

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US9459179B2 (en) 2016-10-04
US20150052985A1 (en) 2015-02-26
CN104011515B (zh) 2018-07-03
DE102011117468B4 (de) 2022-10-20
DE102011117468A1 (de) 2013-05-02
CN104011515A (zh) 2014-08-27

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